Modular surgical instruments

ABSTRACT

A surgical instrument equipped with a coupler arrangement for coupling end effectors to an elongated shaft assembly of the surgical instrument. The end effectors may include a pair of jaws in the form of a carrier supporting a surgical staple cartridge and an anvil. The anvil is movable relative to the carrier in opening and closing directions. The end effector may include an articulation joint that facilitates pivotal travel of the carrier and anvil as a unit relative to the elongated shaft assembly in the same directions in which the anvil is opened and closed relative to the carrier.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under35 U.S.C. §120 to U.S. patent application Ser. No. 14/138,507, entitledMODULAR SURGICAL INSTRUMENTS, filed on Dec. 23, 2013, now U.S. PatentApplication Publication No. 2015/0173747, the entire disclosure of whichis hereby incorporated by reference herein.

FIELD OF THE INVENTION

The present invention relates to surgical instruments and, in variousarrangements, to surgical cutting and stapling instruments and staplecartridges therefor that are designed to cut and staple tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofembodiments of the invention taken in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a perspective view of a surgical instrument arrangement of thepresent invention;

FIG. 2 is a perspective view of an exemplary loading unit that may beemployed in connection with various surgical instruments disclosedherein;

FIG. 3 is another partial cross-sectional view of a portion of theloading unit depicted in FIG. 2;

FIG. 4 is a an exploded perspective view of the loading unit of FIGS. 2and 3;

FIG. 5 is a partial perspective view of a portion of a carrier and anarticulation ball assembly embodiment;

FIG. 6 is a perspective view of an articulation tube embodiment;

FIG. 7 is a partial cross-sectional view of a loading unit of FIGS. 2-4;

FIG. 8 is another cross-sectional view of the loading unit of FIG. 7 inan unarticulated position;

FIG. 9 is another cross-sectional view of the loading unit of FIGS. 7and 8 with the carrier and anvil assembly articulated as a unit in asecond direction;

FIG. 10 is a partial perspective view of a loading unit and a portion ofan elongated shaft assembly prior to commencing a coupling operationbetween the loading unit and a distal end of the elongated shaftassembly;

FIG. 11 is another perspective view of portions of the loading unit andelongated shaft assembly of FIG. 10 after being coupled together;

FIG. 12 is a partial exploded perspective view of portions of theelongated shaft assembly, a coupling assembly and the loading unit ofFIG. 10;

FIG. 13 is another partial exploded perspective view of the shaftassembly, the coupling assembly and the loading unit of FIG. 10;

FIG. 14 is a perspective view of a distal attachment portion of theloading unit of FIG. 10;

FIG. 15 is another perspective view of the distal attachment portion ofthe loading unit of FIG. 10;

FIG. 16 is a perspective view of a proximal attachment portion of theelongated shaft assembly of FIG. 13;

FIG. 17 is another perspective view of the proximal attachment portionof the elongated shaft assembly of FIG. 13;

FIG. 18 is a perspective view of the collar and a firing shaftarrangement;

FIG. 19 is a partial perspective, cross-section view of the loadingunit, the coupling assembly, and a proximal end of the elongated shaftassembly of FIG. 13, depicting the loading unit attached to theelongated shaft assembly;

FIG. 20 is a partial elevation, cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit unattached to the elongated shaftassembly;

FIG. 21 is a partial elevation, cross-sectional view of the loadingunit, the coupling assembly and the elongated shaft assembly of FIG. 13,depicting the loading unit attached to the elongated shaft assembly;

FIG. 22 is an elevational view of the coupling assembly and theelongated shaft assembly of FIG. 13 taken along the plane indicated inFIG. 20;

FIG. 23 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit unattached to the elongated shaftassembly, and further depicting the coupling collar in an initialorientation relative to the elongated shaft assembly;

FIG. 24 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit unattached to the shaft, and furtherdepicting the coupling collar in the initial orientation relative to theelongated shaft assembly;

FIG. 25 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit entering the elongated shaft assembly,and further depicting the coupling collar in the initial orientationrelative to the elongated shaft assembly;

FIG. 26 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit entering the elongated shaft assembly,and further depicting the coupling collar in a secondary, rotatedorientation relative to the elongated shaft assembly;

FIG. 27 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit entering the elongated shaft assembly,and further depicting the coupling collar in the secondary, rotatedorientation relative to the elongated shaft assembly;

FIG. 28 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit fully inserted into the elongated shaftassembly, and further depicting the coupling collar in the secondary,rotated orientation relative to the elongated shaft assembly;

FIG. 29 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit fully inserted into the elongated shaftassembly, and further depicting the coupling collar in the initialorientation relative to the elongated shaft assembly; and

FIG. 30 is a perspective, partial cross-sectional view of the loadingunit, the coupling assembly, and the elongated shaft assembly of FIG.13, depicting the loading unit fully inserted into the elongated shaftassembly, and further depicting the coupling collar in the initialorientation relative to the elongated shaft assembly.

DETAILED DESCRIPTION

Applicant of the present application also owns the following patentapplications that were filed on Dec. 23, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/138,465, entitled SURGICAL STAPLESAND STAPLE CARTRIDGES, now U.S. Patent Application Publication No.2015/0173744;

U.S. patent application Ser. No. 14/138,475, entitled SURGICAL STAPLESAND STAPLE CARTRIDGES, now U.S. Patent Application Publication No.2015/0173749;

U.S. patent application Ser. No. 14/138,481, entitled SURGICAL STAPLESAND METHODS FOR MAKING THE SAME, now U.S. Patent Application PublicationNo. 2015/0173750;

U.S. patent application Ser. No. 14/138,489, entitled SURGICAL STAPLES,STAPLE CARTRIDGES AND SURGICAL END EFFECTORS, now U.S. PatentApplication Publication No. 2015/0173751;

U.S. Design patent application No. 29/477,488, entitled SURGICALFASTENER, now U.S. Pat. No. D775,336;

U.S. patent application Ser. No. 14/138,505, entitled FASTENER CARTRIDGECOMPRISING AN EXTENDABLE FIRING MEMBER, now U.S. Pat. No. 9,585,662;

U.S. patent application Ser. No. 14/138,518, entitled FASTENER CARTRIDGECOMPRISING A FIRING MEMBER CONFIGURED TO DIRECTLY ENGAGE AND EJECTFASTENERS FROM THE FASTENER CARTRIDGE, now U.S. Patent ApplicationPublication No. 2015/0173761;

U.S. patent application Ser. No. 14/138,530, entitled FASTENER CARTRIDGECOMPRISING A FIRING MEMBER INCLUDING FASTENER SURFACES, now U.S. Pat.No. 9,549,735;

U.S. patent application Ser. No. 14/138,554, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE SHAFT ARRANGEMENTS, now U.S. PatentApplication Publication No. 2015/0173789;

U.S. patent application Ser. No. 14/138,474, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSING AND FIRINGSYSTEMS, now U.S. Patent Application Publication No. 2015/0173745;

U.S. patent application Ser. No. 14/138,485, entitled SURGICAL CUTTINGAND STAPLING INSTRUMENTS WITH INDEPENDENT JAW CONTROL FEATURES, now U.S.Patent Application Publication No. 2015/0173746;

U.S. patent application Ser. No. 14/138,497, entitled SURGICAL CUTTINGAND STAPLING INSTRUMENTS WITH ARTICULATABLE END EFFECTORS, now U.S.Patent Application Publication No. 2015/0173755; and

U.S. patent application Ser. No. 14/138,516, entitled SURGICAL CUTTINGAND STAPLING METHODS, U.S. Patent Application Publication No.2015/0173756.

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those of ordinary skill in the art will understand that thedevices and methods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the various embodiments of the present invention is definedsolely by the claims. The features illustrated or described inconnection with one exemplary embodiment may be combined with thefeatures of other embodiments. Such modifications and variations areintended to be included within the scope of the present invention.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, theperson of ordinary skill in the art will readily appreciate that thevarious methods and devices disclosed herein can be used in numeroussurgical procedures and applications including, for example, inconnection with open surgical procedures. As the present DetailedDescription proceeds, those of ordinary skill in the art will furtherappreciate that the various instruments disclosed herein can be insertedinto a body in any way, such as through a natural orifice, through anincision or puncture hole formed in tissue, etc. The working portions orend effector portions of the instruments can be inserted directly into apatient's body or can be inserted through an access device that has aworking channel through which the end effector and elongated shaft of asurgical instrument can be advanced.

Powered surgical instruments are disclosed in U.S. Patent ApplicationPublication No. US 2009/0090763 A1, entitled POWERED SURGICAL STAPLINGDEVICE to Zemlok et al. (hereinafter “Zemlok '763”), the entiredisclosure of which is hereby incorporated by reference herein. Poweredsurgical instruments are also disclosed in U.S. Patent ApplicationPublication No. US 2011/0278344 A1, entitled POWERED SURGICAL INSTRUMENTto Zemlok et al. (hereinafter “Zemlok '344”), now U.S. Pat. No.8,201,721, the entire disclosure of which is hereby incorporated byreference herein. FIG. 1 illustrates a powered surgical instrument 10that, in many ways, may be similar to those surgical instruments(including various features, components and subcomponents thereof)disclosed in, for example, Zemlok '763 and/or Zemlok '344, which haveeach been incorporated by reference herein in their respectiveentireties. Likewise, the surgical instrument 10 may be similar to thosesurgical instruments disclosed in U.S. patent application Ser. No.13/974,205, filed Aug. 23, 2013, entitled ATTACHMENT PORTIONS FORSURGICAL INSTRUMENT ASSEMBLIES to Shelton et al. the entire disclosureof which is hereby incorporated by reference herein. The surgicalinstrument 10 depicted in FIG. 1 includes a housing 12 that has a handleportion 14 for facilitating manual manipulation and operation of theinstrument. Thus, the term “housing” as used herein may encompass ahandheld or otherwise hand-manipulatable arrangement. However, the term“housing” may also encompass portions of an automated surgicalinstrument system such as a robotically-controlled system that is notintended to be handheld but is otherwise manipulated and actuatable byvarious components, portions, and/or actuators of the system. Forexample, various implementations of the surgical instrument describedherein may be used in connection with those robotic systems andarrangements disclosed in U.S. patent application Ser. No. 13/536,323,entitled ROBOTICALLY POWERED SURGICAL DEVICE WITH MANUALLY ACTUATABLEREVERSING SYSTEM, filed Jun. 28, 2012, the entire disclosure of which isincorporated by reference herein. Furthermore, the coupling arrangementsand end effector arrangement disclosed herein may also be effectivelyemployed with non-powered hand held surgical instruments. Thus, the endeffector arrangements and coupling arrangements disclosed herein shouldnot be limited to use in connection with powered instruments, whetherthey be handheld or otherwise automated.

An elongated shaft assembly 116 in the form of an endoscopic portionprotrudes from the housing 12 and is configured for operable attachmentto a surgical end effector that is constructed to perform at least onesurgical procedure in response to applications of firing motionsthereto. The surgical end effector may comprise a device configured tocut and staple tissue such as a “loading unit” 20 as shown in FIGS. 2-9.Surgical end effectors, such as loading unit 20, for example, can bereleasably attached to the elongated shaft assembly 116 of the poweredsurgical instrument 10, as described in greater detail herein.

FIGS. 2-9 illustrate one exemplary form of end effector or loading unit20 that may be employed with the surgical instrument 10. As can be seenin FIG. 2, the loading unit 20 includes an anvil assembly 220 that issupported for pivotal travel relative to a carrier 240 that operablysupports a staple cartridge 260 therein. The staple cartridge 260 maycomprise a surgical staple cartridge that is designed to be “implanted”within the patient. For example, the implantable surgical staplecartridge 260 may comprise any of the various surgical staple cartridgearrangements disclosed in U.S. Patent Application Publication No. US2012-0080484, filed Sep. 30, 2010, entitled SURGICAL STAPLING INSTRUMENTWITH A VARIABLE STAPLE FORMING SYSTEM, the entire disclosure of which ishereby incorporated by reference herein. In at least one implementationfor example, the staple cartridge 260 includes a body portion 261 thatconsists of a compressible hemostat material such as, for example,oxidized regenerated cellulose (“ORC”) or a bio-absorbable foam in whichlines of unformed metal staples are supported. In at least someembodiments, in order to prevent the staple from being affected and thehemostat material from being activated during the introduction andpositioning process, the entire cartridge may be coated or wrapped in abiodegradable film such as a polydioxanon film sold under the trademarkPDS® or with a Polyglycerol sebacate (PGS) film or other biodegradablefilms formed from PGA (Polyglycolic acid, marketed under the trade markVicryl), PCL (Polycaprolactone), PLA or PLLA (Polylactic acid), PHA(polyhydroxyalkanoate), PGCL (poliglecaprone 25, sold under thetrademark Monocryl) or a composite of PGA, PCL, PLA, PDS that would beimpermeable until ruptured. The body 261 of staple cartridge 260 issized to be removably supported within the carrier 240 as shown suchthat each staple therein is aligned with corresponding staple formingpockets in the anvil assembly 220.

The anvil assembly 220 has a pair of trunnions 221 formed thereon thatare adapted to be pivotally received within trunnion slots 242 in aproximal end 241 of the carrier 240 such that the anvil assembly 220 maymove or pivot between an open position and a closed position relative tothe carrier 240 about an anvil pivot axis ANV-ANV. The anvil pivot axisANV-ANV is transverse to a longitudinally extending tool axis LA-LAdefined by the elongated shaft assembly 116. When the anvil assembly 220is pivoted from an open position to a closed position, the anvilassembly 220 is moving in a closing direction “CD” about anvil pivotaxis ANV-ANV. Conversely, when the anvil assembly 220 is moving from aclosed position to an open position, the anvil assembly 220 is moving inan opening direction “OD” about anvil pivot axis ANV-ANV.

The loading unit 20 employs a unique and novel articulation joint 270that facilitates articulation of the carrier 240 and anvil assembly 220to pivot about an articulation axis “AA-AA” that is transverse to alongitudinal tool axis “LA-LA”. For example, the loading unit 20 mayinclude an end effector housing 400 that is configured to be receivedwithin an outer casing 450. The distal end 402 of the end effectorhousing 400 may have a clevis 404 formed thereon by two distallyprotruding tabs 406. Each tab 406 has a pivot hole 408 formed thereinthat is adapted to receive therein a corresponding pivot pin 274 formedon an articulation ball assembly 272. See FIG. 4. The articulation ballassembly 272 may be rigidly affixed to the proximal end 241 of thecarrier 240 by, for example, welding or other suitable fasteningarrangement. As will be discussed in further detail below, whenassembled together, the carrier 240 and anvil assembly 220 canselectively articulate as a unit about the articulation axis AA-AA in afirst direction “FD” which is the same direction as the anvil closingdirection “CD” and in a second direction “SD” which is the same as theanvil opening direction “OD”. See FIG. 9.

Still referring to FIG. 4, the end effector housing 400 may be providedwith a channel 410 for slidably receiving an articulation link 420therein. The articulation link 420 includes a proximal end portion 422and a distal end 424. Fixedly attached to the distal end portion 424 isan articulation tube 426. The articulation tube 426 may comprise ahollow tube and be attached to the distal end 424 by, for example,welding or other suitable means. As can be seen in FIG. 6, thearticulation tube 426 may have a series of articulation teeth 428 formedtherein that are configured to meshingly engage sets of distalarticulation teeth 276 formed on the articulation ball 272. Thus,movement of the articulation link 420 in the distal direction “DD” willcause the carrier 240 and anvil assembly 220 to pivot in the firstdirection “FD” about the articulation axis AA-AA. Conversely, movementof the articulation link 420 in the proximal direction “PD” will causethe carrier 240 and anvil assembly 220 to pivot as a unit in the seconddirection “SD” about the articulation axis AA-AA. The articulation link420 and the articulation tube 426 may be collectively referred to hereinas the articulation link assembly 425. See FIG. 4.

The loading unit 20 may also be equipped with a drive assembly 460 thatis configured to axially move through the end effector housing 400. Inat least one implementation, the drive assembly 460 includes a drivebeam assembly 461 that includes an upper drive beam 462 and a lowerdrive beam 464 that are attached to a cutting head 470. The cutting head470 may include a body portion 471 that has a tissue cutting edge 472formed thereon. An upper portion 473 of the body portion 471 has anupper tab 474 formed thereon. A bottom foot or tab 476 is formed on alower portion 475 of the body portion 471. The vertically oriented bodyportion 471 extends through a longitudinally extending slot 245 in thecarrier 240 and a longitudinally extending slot 222 in the anvilassembly 220. When assembled, the bottom foot 476 is configured to slidealong the bottom of the carrier 240. The, upper tab portion 474 isarranged to be slidably received within an elongated channel 223 formedin the anvil assembly 220.

As can be seen in FIG. 4, the upper firing bar 462 is attached to theupper end portion 473 and the lower firing bar 464 is spaced from theupper firing bar 462 and is attached to the lower end portion 475 of thevertically-extending portion 471 of the cutting head 470. Sucharrangement serves to transmit the firing motions to the upper and lowerportions of the cutting head 470 in an equivalent manner to facilitatealigned movement of the cutting head 470 through the anvil assembly 220,the surgical staple cartridge 260 and the carrier 240. In variousarrangements, for example, the upper firing bar 462 may be attached tothe upper end portion 473 directly behind the upper tabs(s) 474 suchthat the upper firing bar 462 is essentially axially aligned withpoint(s) from which the upper tab(s) 474 protrude laterally from theupper end portion 473. Similarly, the lower firing bar 464 may beattached to the bottom end portion 475 directly behind the bottom foot476 or the point(s) from which the laterally protruding bottom tabs 476protrude laterally from the bottom end portion 475 such that the lowerfiring bar 464 is axially aligned therewith. The upper and lower firingbars 462, 464 may be welded to the vertical extending portion 471 inthose locations. For example, the welds may be applied to the firingbars from one side or from both lateral sides of the firing bars. As thecutting head 470 is driven distally in the distal direction “DD”, theanvil assembly 220 is pivoted closed between the upper tabs(s) 474 andthe lower tab(s) or foot 476. Further advancement of the cutting headassembly 470 causes the surgical staple cartridge 260 to be crushedbetween the anvil assembly 220 and the carrier 240 thereby causing thesurgical staples supported therein to be formed on both sides of thetissue cut line as they are brought into contact with the staple formingunderside of the anvil assembly 220. After the cutting head assembly 470has been advanced to the distal end of the carrier 240, the userretracts the cutting head assembly 470 to the starting positionwhereupon the anvil assembly 220 may be opened to release the staplecartridge 260 and stapled tissue. In one implementation, for example,the upper tab(s) 474 are configured to interact with the upper surfaceof the anvil assembly 220 to cam or pivot the anvil assembly 220 back tothe open position. In alternative arrangements, a spring or otherbiasing member (not shown) may be employed to bias the anvil assembly220 to the open position when the cutting head assembly 470 is in astarting position.

The drive beam assembly 460 may further include a proximal engagementmember 467 that includes a pair of engagement fingers 468 that areconfigured to operably engage a distal end 522 of a firing rod 104 aswill be discussed in further detail herein. As can be seen in FIG. 4,for example, the proximal engagement member 467 is pivotally coupled tothe upper and lower firing bars 462, 464 to facilitate articulation andflexing thereof during articulation of the carrier 240 about thearticulation axis AA-AA without binding the drive beam assembly 461. Inat least one implementation, for example, the proximal engagement member467 is pivotally coupled to the upper and lower firing bars 462, 464 bya pair of pivot links 466. Such links 466 enable the upper firing bar462 to pivot relative to the proximal engagement member 467 independentform the lower firing bar 464 and visa versa.

As can be seen in FIG. 1, the surgical instrument 10 may include a motor100 that is configured to generate rotary actuation motions that may beemployed, for example, to apply firing motions to the loading unit 20 aswill be discussed in further detail below. In at least one form, forexample, the motor 100 is configured to apply rotary actuation motionsto a firing member assembly, generally designated as 82. In onearrangement, for example, the firing member assembly 82 includes a drivetube 102 that is rotatably supported within the housing 12 and has aninternal thread (not shown) formed therein. A proximal threaded portionof a firing member or firing rod 104 is supported in threaded engagementwith the drive tube 102 such that rotation of the drive tube 102 resultsin the axial movement of the firing rod 104. The firing rod 104 mayinterface with the interior of the drive assembly 460 in the loadingunit 20. As discussed in further detail in the aforementionedincorporated Zemlok '763 and Zemlok '344, rotation of drive tube 102 ina first direction (e.g., counter-clockwise) causes the firing rod 104 toadvance the drive assembly 460 in the distal direction.

As can be further seen in FIG. 1, the surgical instrument 10 may includean articulation system generally designated as 109. However, surgicalinstrument 10 may include various other articulation system arrangementsdisclosed in detail herein. In at least one form, the articulationsystem 109 may include an articulation mechanism 110 that includes anarticulation motor 112 and a manual articulation knob 114. Thearticulation motor 112 may be actuated by a powered articulation switch116 or by pivoting the manual articulation knob 114. Actuation of thearticulation motor 112 serves to rotate an articulation gear 118 of thearticulation mechanism 110. Actuation of articulation mechanism 110 maycause the end effector (e.g., the cartridge/anvil portion of the loadingunit 20) to move from its first position, wherein its axis issubstantially aligned with longitudinal tool axis “LA-LA” of theelongated shaft assembly 116 to a position in which the axis of the endeffector is disposed at an angle relative to the longitudinal tool axis“LA-LA” of the elongated shaft assembly about, for example, articulationaxis “AA-AA”. Further discussion regarding various aspects of thearticulation mechanism 110 may be found in Zemlok '763 which waspreviously incorporated by reference herein in its entirety. Inaddition, U.S. Pat. No. 7,431,188 entitled SURGICAL STAPLING APPARATUSWITH POWERED ARTICULATION, the entire disclosure of which is herebyincorporated by reference herein, discloses motor-powered articulatableend effectors which may be employed in connection with surgicalinstrument 10. Those of ordinary skill in the art will understand,however, that the unique and novel coupling and end effectorarrangements disclosed herein may also be effectively employed withmanually-operated (i.e., non-powered) articulation systems that areknown in the art.

In various embodiments, the surgical instrument can include at least onemotor, which can apply firing motions to the loading unit 20 and/orarticulation motions to the articulation system 109, as describedelsewhere in greater detail. The motor 100 may, for example, be poweredby a power source 200 of the type described in further detail in Zemlok'763. For example, the power source 200 may comprise a rechargeablebattery (e.g., lead-based, nickel-based, lithium-ion based, etc.). It isalso envisioned that the power source 200 may include at least onedisposable battery. The disposable battery may, for example, be betweenabout 9 volts and about 30 volts. However, other power sources may beemployed. FIG. 1 illustrates one example wherein the power source 200includes a plurality of battery cells 202. The number of battery cells202 employed may depend upon the current load requirements of theinstrument 10.

Referring to FIG. 1, a power source such as, for example, the powersource 200 can supply power for operation of the surgical instrument 10.For example, the power source 200 can supply power for a motor such as,for example, motor 100 to cause rotation of the drive tube 102 in afirst direction and ultimately the axial advancement of the firing rod104 which drives the drive assembly 460 distally through the loadingunit 20. Alternatively, the power source 200 can supply power for themotor 100 to cause rotation of the drive tube 102 in a second directionopposite the first direction and ultimately the axial retraction of thefiring rod 104 which can move the drive beam 60 proximally to itsstarting and/or default position.

Surgical end effectors, such as a disposable loading unit 20, forexample, can be operably coupled to the elongated shaft assembly 116 ofthe powered surgical instrument 10 (FIG. 1). In various embodiments, thesurgical instrument 10 can include an elongated shaft assembly 116,which can engage the loading unit 20, for example. In variousembodiments, a coupling assembly 115 that includes a rotatable couplingcollar 500, for example, can releasably lock the loading unit 20relative to the elongated shaft assembly 116. Furthermore, in variousembodiments, rotation of the coupling collar 500 can facilitateattachment and/or alignment of a firing assembly and/or an articulationassembly, as described herein. In various embodiments, the loading unit20 can include a distal attachment portion 480 and the elongated shaftassembly 116 can include an outer tube 30 and a distal attachmentportion 32. The distal attachment portion 480 of the loading unit 20 canreceive the distal attachment portion 32 of the shaft assembly 116 whenthe loading unit 20 is secured to the elongated shaft assembly 116 (FIG.11). Furthermore, the rotatable coupling collar 500 can be positionedaround the distal attachment portion 32 of the shaft assembly 116, suchthat the distal attachment portion 480 of the loading unit 20 can alsobe positioned within the rotatable coupling collar 500. The rotatablecoupling collar 500 can be secured to the elongated shaft assembly 116and/or the proximal attachment portion 480, and, in certain embodiments,can be rotatably fixed to the distal attachment portion 32 of the shaftassembly 116, for example. In certain embodiments, a proximal attachmentportion of the shaft assembly 116 can receive a distal attachmentportion 480 of the loading unit 20 when the loading unit 20 is securedto the shaft assembly 116. Furthermore, in certain embodiments, acoupling collar 500 can be rotatably fixed to the loading unit 20.

Referring to FIGS. 10 and 11, as the loading unit 20 moves between anon-attached position and an attached position relative to the elongatedshaft assembly 116 of the surgical instrument 10, the loading unit 20can translate along a longitudinal tool axis LA-LA as defined by theelongated shaft assembly 116. The distal attachment portion 480 of theloading unit 20 can be inserted into the distal attachment portion 32 ofthe elongated shaft assembly 116 as the loading unit 20 moves from thenon-attached position to the attached position. For example, the loadingunit 20 can translate in proximal direction “PD” (FIG. 11) when theloading unit 20 is moved between the non-attached position and theattached position. In certain embodiments, a groove-and-slot engagementbetween the distal attachment portion 480 and the distal attachmentportion 32 can guide the loading unit 20 along the longitudinal toolaxis LA-LA defined by the elongated shaft assembly 116. Referringprimarily to FIG. 14, the distal attachment portion 480 can include aguide rail 482. Furthermore, referring primarily to FIG. 16, the distalattachment portion 32 can include a guide slot 34. The guide slot 34 canbe dimensioned and structured to receive and guide the guide rail 482 asthe proximal attachment portion 480 of the loading unit 20 is insertedinto the distal attachment portion 32 of the elongated shaft assembly116. For example, the guide slot 34 can comprise a longitudinal slot,and the guide rail 482 can comprise a longitudinal ridge, for example.In certain embodiments, the guide slot 34 and guide rail 482 can preventtwisting and/or rotating of the loading unit 20 relative to thelongitudinal tool axis LA-LA.

Referring primarily to FIG. 10, the distal attachment portion 480 caninclude a first alignment indicia 484, such as a first arrow, forexample, and the elongated shaft assembly 116 and/or the coupling collar500 can include a second alignment indicia 502, such as a second arrow,for example. Alignment of the first and second alignment indicia 484,502 can align the guide rail 482 and the guide slot 34, which canfacilitate attachment of the distal attachment portion 480 to the distalattachment portion 32. As described herein, translation of the loadingunit 20 along a longitudinal path toward the elongated shaft assembly116 can releasably lock the loading unit 20 relative to the elongatedshaft assembly 116. In such embodiments, rotation of the loading unit 20relative to the elongated shaft assembly 116 may not be required toattach the loading unit 20 relative to the elongated shaft assembly 160.In fact, rotation of the loading unit 20 relative to the elongated shaftassembly 116 can be restrained and/or prevented by a groove-and-slotengagement between the distal attachment portion 32 and the distalattachment portion 480, as described herein. In various embodiments, thecoupling collar 500 can rotate relative to the loading unit 20 and/orthe elongated shaft assembly 116 to releasably lock the loading unit 20to the elongated shaft assembly 116. For example, as described herein,the coupling collar 500 can rotate from an initial orientation (FIG. 25)toward a secondary orientation (FIG. 26) and then return toward theinitial orientation (FIG. 29) to lock the loading unit 20 to theelongated shaft assembly 116.

Referring primarily to FIGS. 14 and 15, the proximal portion 480 of theloading unit 20 can include a rotation key or rib 486. As the loadingunit 20 is moved in the proximal direction “PD” (FIG. 10) between anon-attached position (FIG. 10) and an attached position (FIG. 11), therotation key 486 can affect rotation of the coupling collar 500. Forexample, the rotation key 486 can rotate and/or bias the coupling collar500 in direction B (FIG. 11) from the initial orientation to thesecondary orientation. The distal attachment portion 480 can be insertedinto the distal attachment portion 32 when the coupling collar 500 isbiased into the secondary orientation. Furthermore, when the distalattachment portion 480 is fully inserted into the distal attachmentportion 32, the rotation key 486 can permit the coupling collar 500 torotate in direction C (FIG. 11) from the secondary orientation towardthe initial orientation. As used herein the term “fully inserted” asused with respect to the coupling of the loading unit 20 to theelongated shaft assembly 116 means that the distal attachment portion480 of the loading unit 20 has been fully inserted in mating oroperational engagement with the distal attachment portion 32 of theelongated shaft assembly 116. Direction C can be opposite to directionB, for example. As described herein, when the coupling collar 500returns to the initial orientation, the coupling collar 500 can lock thedistal attachment portion 480 relative to the distal attachment portion32. Referring to FIGS. 14 and 15, the rotation key 486 can include arotation ramp 488 at the proximal end thereof. The rotation ramp 488 canengage an element of the shaft assembly 116 to effect rotation of therotation coupling collar 500, for example.

In various embodiments, the rotation ramp 488 can affect rotation of afiring shaft 104 positioned within the elongated shaft assembly 116. Forexample, referring primarily to FIGS. 19-22, the firing shaft 104 caninclude a firing shaft rotator 600 which can extend radially outwardfrom the firing shaft 104. The rotation ramp 488 of the rotation key 486can engage the firing shaft rotator 600 when the loading unit 20 isinserted into the elongated shaft assembly 116. In various embodiments,the rotation ramp 448 can rotate the firing shaft rotator 600, which canrotate the firing shaft 104. For example, the firing shaft 104 and thefiring shaft rotator 600 can rotate in direction B between a firstorientation (FIG. 25) and a second orientation (FIG. 26). Referringstill to FIGS. 19-22, the firing shaft 104 can be engaged with therotatable coupling collar 500. For example, the rotatable couplingcollar 500 can include a rotator groove 502, which can be structured anddimensioned to receive and/or hold the firing shaft rotator 600. Thefiring shaft rotator 600 can be held by the rotator groove 600, suchthat the rotation of the firing shaft rotator 600 rotates the rotatablecoupling collar 500. In such embodiments, insertion of the loading unit20 into the elongated shaft assembly 116, can affect rotation of therotatable coupling collar 500 in direction B (FIG. 26) via rotation ofthe firing shaft rotator 600 in direction B, for example.

Referring primarily to FIGS. 16 and 17, the distal attachment portion 32can include a rotation key slot 510, which can receive the rotation key486 when the distal attachment portion 480 is inserted into the distalattachment portion 32. In various embodiments, the rotation key slot 510can include a clearance notch 512 for receiving the firing shaft rotator600. For example, the rotation ramp 488 at the proximal end of therotation key 486 can rotate the firing shaft rotator 600 to the secondorientation and into the clearance notch 512 (FIG. 26). The rotation key486 can continue to move along the rotation key slot 510 as the loadingunit 20 is inserted into the elongated shaft assembly 116. Furthermore,when the distal end 490 of the rotation key 486 moves past the firingshaft rotator 600, the firing shaft rotator 600 can rotate back towardthe first orientation (FIG. 30), which can corresponding rotate therotatable coupling collar 500 back toward the initial orientationthereof.

In various embodiments, the rotatable coupling collar 500 can be biasedinto the initial orientation relative to the elongated shaft assembly116 and/or the distal attachment portion 32. For example, a spring 514can bias the coupling collar 500 into the initial orientation. Thespring 514 can include a proximal end 516 that can be secured relativeto the elongated shaft assembly 116, and a distal end 550 that can besecured relative to the coupling collar 500. For example, the proximalend 516 of the spring 514 can be retained in a proximal spring slot 556(FIG. 23) of the shaft assembly 116, and the distal end 550 of thespring 514 can be retained in a distal spring slot 552 (FIG. 18) of therotatable coupling collar 500, for example. In such embodiments,rotation of the coupling collar 500 can displace the distal end 550 ofthe spring 514 relative to the proximal end 516 of the spring 514, whichcan generate a torsional force. Accordingly, the coupling collar 500 canresist rotation from the initial orientation to the secondaryorientation, and, when the coupling collar is rotated to the secondaryorientation, the spring 514 can bias the coupling collar 500 back towardthe initial orientation. Because the firing shaft rotator 600 is engagedwith the coupling collar 500, the spring 514 can also bias the firingshaft 104 toward the first orientation thereof.

In various embodiments, the rotatable coupling collar 500 can include alocking detent 518 that releasably locks the loading unit 20 to theelongated shaft assembly 116. Referring primarily to FIG. 18, thelocking detent 518 can extend radially inward from the inner perimeterof the rotatable coupling collar 500. In various embodiments, thelocking detent 518 can extend into a detent slot 520 (FIG. 16) in thedistal attachment portion 32. Referring primarily to FIG. 16, the detentslot 520 can form a notch in the guide slot 34. In various embodiments,the detent slot 520 can extend from the guide slot 34, and can beperpendicular or substantially perpendicular to the guide slot 34, forexample. Further, the locking detent 518 can move along the detent slot520 when the rotatable coupling collar 500 rotates between the initialorientation and the secondary orientation relative to the elongatedshaft assembly 116.

In various embodiments, the locking detent 518 can engage the distalattachment portion 480 of the loading unit 20 to lock the loading unit20 relative to the elongated shaft assembly 116. For example, referringagain to FIG. 14, the distal attachment portion 480 can include theguide rail 482, which can have a lock notch 489 defined therein. Thelock notch 489 can be structured and dimensioned to receive the lockingdetent 518 of the rotatable coupling collar 500 when the loading unit 20is fully inserted into the distal attachment portion 32. For example,when the distal attachment portion 480 is fully inserted into the distalattachment portion 32, the lock notch 489 of the distal attachmentportion 480 can be aligned with the detent slot 520 of the distalattachment portion 32. Accordingly, the locking detent 518 can slidealong the detent slot 520 in the distal attachment portion 32 and intothe lock notch 489 in the distal attachment portion. Furthermore, thelocking detent 518 can be biased toward engagement with the lock notch489 by the torsion spring 514. For example, after the firing shaftrotator 600 clears the distal end 490 of the rotation key 486, thefiring shaft 104 can be biased back toward the first orientation and therotatable coupling collar 500 can be biased back toward the initialorientation by the torsion spring 514. Furthermore, when the couplingcollar 500 is rotated from the secondary orientation back to the initialorientation, the locking detent 518 thereof can be aligned and engagedwith the lock notch 489 in the guide rail 482.

In various embodiments, rotation of the coupling collar 500 canfacilitate attachment and/or alignment of a firing assembly. Forexample, the firing shaft 104 can extend between a proximal end 524 anda distal end 522. The proximal end 524 can have a rotation joint, whichcan permit rotation of the firing shaft 104 between the firstconfiguration and the second configuration. Furthermore, the distal end522 can have a coupler for attaching the proximal engagement member 467of the drive beam assembly 461 to the firing shaft 104. Rotation of thefiring shaft 104 can facilitate attachment of the proximal engagementmember 467. For example, as the coupler at the distal end 522 of thefiring shaft 104 rotates, the distal end 522 is operably coupled to theproximal engagement member 467. In certain embodiments, the coupler caninclude a bayonet mount, which can engage a corresponding bayonetreceiver of the cutting element in the loading unit 20. Referringprimarily to FIGS. 12 and 13, the firing assembly can further include asleeve 526 positioned around the firing shaft 104 between the proximalend 524 and the distal end 522, for example.

In various embodiments, when the firing shaft 104 rotates within theelongated shaft assembly 116, the firing shaft 104 can rotate intoalignment with a firing shaft slot 528 in the loading unit 20. Forexample, the firing shaft rotator 600 can be aligned with the firingshaft slot 528 when the loading unit 20 is fully inserted and attachedto the elongated shaft assembly 116. However, in various embodiments,when the loading unit 20 is only partially inserted into the elongatedshaft assembly 116, the firing shaft rotator 600 can be rotated, via therotation key 486, out of alignment with the firing shaft slot 528. Inother words, the firing shaft rotator 600 can be aligned with the firingshaft slot 482 when the firing shaft 104 is in the first orientation,and can be misaligned with the firing shaft slot 482 when the firingshaft 104 rotates toward the second orientation. In such embodiments,when the loading unit is only partially inserted into the elongatedshaft assembly 116 and/or before the loading unit 20 is releasablylocked to the elongated shaft assembly 116 by the rotatable couplingcollar 500, the firing path of the firing shaft rotator 600 can beblocked by the distal attachment portion 480. Integration of the firingshaft 104 and the coupling collar 500 can ensure the loading unit 20 issecurely attached to the elongated shaft assembly 116 before the firingshaft 104 can fire and/or advance. For example, the surgical instrumentmay be unable to fire until the cutting element in the loading unit 20is coupled to the firing shaft 104, and/or until the firing shaft 104 isproperly aligned within the elongated shaft assembly 116, for example.

In certain embodiments, rotation of the coupling collar 500 canfacilitate attachment and/or alignment of an articulation assembly 530.Referring primarily to FIGS. 12 and 13, the articulation assembly 530can include a proximal articulation bar 538, a distal articulation bar420, and an articulation connector 532. Furthermore, the shaft assembly116 can include a proximal articulation bar slot 534, and the loadingunit 20 can include a distal articulation bar slot 410, for example. Incertain embodiments, the proximal articulation bar 538 can be alignedwith the proximal articulation bar slot 534, and the distal articulationbar 420 can be aligned with the distal articulation bar slot 410.Referring now to FIG. 18, the articulation connector 532 can be housedin the rotatable coupling collar 500. For example, the rotatablecoupling collar 500 can include an articulation connector slot 536, andthe articulation connector 532 can be moveably positioned therein.

In various embodiments, referring again to FIGS. 12 and 13, the proximalarticulation bar 538 can have a proximal notch 540, and the distalarticulation bar 420 can have a distal notch 423. Furthermore, thearticulation connector 532 can include a proximal articulation lug 533and a distal articulation lug 540. The proximal articulation lug 533 canbe retained in the proximal notch 540 of the proximal articulation bar538. In certain embodiments, the distal articulation lug 535 canoperably engage the distal notch 423 of the distal articulation bar 420.As described herein, the rotatable coupling collar 500 can rotatebetween the initial configuration and the secondary configuration. Asthe coupling collar 500 rotates, the articulation connector 532 housedtherein can also rotate relative to the longitudinal axis defined by theshaft assembly 116. In various embodiments, the proximal articulationlug 533 of the articulation connector 532 can remain positioned in theproximal notch 540 of the proximal articulation bar 538 as thearticulation connector 532 rotates. Furthermore, the distal articulationlug 535 of the articulation connector 532 can move into engagement withthe distal notch 423 of the distal articulation bar 420 as thearticulation connector 532 rotates with the coupling collar 500 from thesecondary orientation toward the initial orientation. For example, whenthe loading unit 20 is fully inserted into the shaft 488, the distalnotch 423 of the distal articulation bar 420 can be aligned with thedistal articulation lug 533 of the articulation connector 532. In suchembodiments, when the rotatable collar 500 rotates back to the initialconfiguration, the distal articulation lug 533 can slide into the distalnotch 423 of the distal articulation bar 420. When the distalarticulation lug 533 is positioned in the distal notch 423, thearticulation assembly 530 can be fully assembled.

Referring primarily to FIG. 17, in various embodiments, the proximalarticulation bar slot 534 can include a first clearance 542 and a secondclearance 544. The proximal and distal articulation lugs 533, 535 of thearticulation connector 532 can extend into the first and secondclearances 542, 544, respectively. In certain embodiments, the first andsecond clearances 542, 544 can provide a space for the proximal anddistal articulation lugs 533, 535 to move as the collar 500 rotatesand/or as the articulation assembly 530 articulates, for example.

Referring now to FIGS. 23-30, to connect the loading unit to theelongated shaft assembly 116 of the surgical instrument, a user canalign the alignment indicia 484 of the loading unit 20 with thealignment indicia 502 of the elongated shaft assembly 116 and/or thecoupling collar 500 (FIG. 23). While maintaining alignment of thealignment indicia 484, 502, the user can move the loading unit 20relative to the elongated shaft assembly 116 along the longitudinal axisLA-LA. The user can move the loading unit 20 along a straight orsubstantially straight path, and, in various embodiments, need notrotate the loading unit 20 relative to the elongated shaft assembly 116,for example. Referring primarily to FIG. 25, the loading unit 20 cancontinue to translate relative to the elongated shaft assembly 116, andthe guide rail 482 of the distal attachment portion 480 can fit into theguide slot 34 (FIG. 16) in the distal attachment portion 32 of theelongated shaft assembly 116. As the distal attachment portion 480 movesinto the distal attachment portion 32, the guide slot 34 can guide theguide rail 482, and can maintain alignment of the alignment indicia 484,502, for example. In other words, the guide slot 34 and the guide rail482 can prevent rotation of the loading unit 20 relative to thelongitudinal axis of the elongated shaft assembly 116. Referringprimarily to FIG. 24, the proximal articulation lug 533 of thearticulation connector 32 can extend into the first clearance 542 andcan be positioned in the proximal notch 540 of the proximal articulationbar 420, and the distal articulation lug 535 of the articulationconnector 32 can extend through the second clearance 544, for example.

Referring primarily to FIG. 26, as the distal attachment portion 480 isinserted into the distal attachment portion 32, the rotation key ramp488 of the rotation key 486 can abut the firing shaft rotator 600. Therotation key ramp 488 can guide and/or direct the firing shaft rotator600 into the clearance notch 512 extending from the rotation key slot510. Furthermore, as the firing shaft rotator 600 moves into theclearance notch 512, the firing shaft 104 can rotate in the direction B.The firing shaft 104 can rotate from the first orientation to the secondorientation. Such rotation of the firing shaft 104 can facilitateattachment of the distal end 522 of the firing shaft 104 with theproximal engagement member 467 that is pivotally coupled to the drivebeam assembly 461. Furthermore, rotation of the firing shaft rotator 600can rotate the coupling collar 500 in the direction B via the engagementbetween the firing shaft rotator 600 and the firing shaft rotator groove600 in the coupling collar 500. The coupling collar 500 can rotate fromthe initial orientation to the secondary orientation, for example.Additionally, the locking detent 518 can move along the detent slot 520in the shaft assembly 116 as the coupling collar 500 rotates.Additionally, rotation of the coupling collar 500 can rotate the distalend 550 of the spring 514 because the distal end 550 of the spring 514can be retained in the distal spring slot 552 (FIG. 18) in the couplingcollar 500. Displacement of the distal end 550 relative to the proximalend 516 can generate a torsional springback force, which can bias thecoupling collar 500 from the secondary orientation toward the initialorientation, for example, and can bias the firing shaft 104 from thesecond orientation toward the first orientation, for example.

Referring primarily to FIG. 27, as the coupling collar 500 rotatestoward the secondary orientation, the proximal articulation lug 533 canremain engaged with the proximal notch 540 in the proximal articulationbar 538. Furthermore, the distal articulation lug 535 can rotate suchthat the distal articulation lug 535 provides a clearance for the distalarticulation bar 420 of the loading unit 20. Referring to FIG. 28, theloading unit 20 can be fully inserted into the elongated shaft assembly116 when the coupling collar 500 and the articulation connector 532positioned therein are rotated to the secondary orientation. In variousembodiments, the distal articulation bar 420 can clear the distalarticulation lug 535 of the articulation connector 532 when thearticulation connector 532 is rotated to the secondary orientation.Furthermore, the distal articulation lug 535 can be rotatably alignedwith the distal notch 423 in the articulation connector 532. Referringstill to FIG. 28, when the loading unit 20 is fully inserted into theelongated shaft assembly 116, the firing rod rotator 600 can clear thedistal end 490 of the rotation key 486.

Referring now to the FIG. 29, the firing shaft rotator 600 can rotate inthe direction C when the distal end 490 of the rotation key 486 passesthe firing shaft rotator 600. For example, the firing shaft rotator 600can rotate in direction C from the second orientation toward the firstorientation. Furthermore, rotation of the firing shaft rotator 600 canaffect rotation of the coupling collar 500 in the direction C from thesecondary orientation toward the initial orientation. In variousembodiments, the spring 514 can bias the firing rod 104 toward the firstorientation thereof and the collar 500 toward the initial orientationthereof. For example, the firing shaft rotator 600 can be positioned inthe firing shaft rotator groove 602 (FIG. 18) in the coupling collar 500such that rotation of the firing shaft rotator 600 rotates the couplingcollar 500. Due to the alignment of the distal articulation lug 535 ofthe articulation connector 532 and the distal notch 423 of the distalarticulation bar 420, the articulation connector 532 can rotate as thecoupling collar 500 rotates, and the distal articulation lug 535 canrotate into engagement with the distal notch 423. The articulationassembly 530 can be assembled when the distal articulation lug 535engages the distal notch 423. Furthermore, as the firing shaft rotator600 rotates in direction C, the distal end 522 of the firing shaft 104can rotate in direction C, which can facilitate attachment of a theproximal engagement member 467 of the drive beam assembly 461 to thedistal end 522 of the firing shaft 104.

Referring now to FIG. 30, rotation of the coupling collar 500 can alsorotate the locking detent 518 of the collar 500 into the lock notch 489in the guide rail 482 of the distal attachment portion 480. For example,when the loading unit 20 is fully inserted into the elongated shaftassembly 116, the lock notch 489 can be aligned with the detent slot 520such that the locking detent 518 can rotate through the detent slot 520and into the lock notch 489. As described herein, the spring 514 canbias the coupling collar 500 to rotate in the direction C (FIG. 29)after the firing shaft rotator 600 clears the distal end 490 of therotation key 486. Referring still to FIG. 30, when the firing shaftrotator 600 rotates in direction C, the firing shaft rotator 600 canmove into alignment with the firing shaft slot 528 in the loading unit20. Alignment of the firing shaft rotator 600 with the firing shaft slot528 can permit the firing shaft 104 to be advanced distally to fire theloading unit 20, for example.

As described herein, the rotatable coupling collar 500 can releasablylock the loading unit 20 relative to the elongated shaft assembly 116.Furthermore, rotation of the coupling collar 500 can facilitatesimultaneous attachment and/or alignment of the articulation assembly530, as well as attachment and/or alignment of the firing shaft 104 witha cutting head assembly in the loading unit 20, for example.Furthermore, rotation of the coupling collar 500 can also simultaneouslyunlock the loading unit 20 from the elongated shaft assembly 116,disconnect the articulation assembly 530, and/or disconnect the firingshaft 104 from the cutting element in the loading unit 20. For example,when the coupling collar 500 is again rotated from the initialorientation toward the secondary orientation, the locking detent 518 candisengage the lock notch 489 in the distal attachment portion 480.Accordingly, the distal attachment portion 480 can be withdrawn from thedistal attachment portion 32 along the longitudinal axis defined by theelongated shaft assembly 116, for example. In various embodiments, theloading unit 20 can be unattached from the elongated shaft assembly 116without rotating the loading unit 20 relative to the elongated shaftassembly 116. However, the coupling collar 500 can rotate relative tothe elongated shaft assembly 116, which can disconnect the distalarticulation bar 420 from the articulation connector 532 in the couplingcollar 500, and can disconnect the firing shaft 104 from the cuttingelement or drive beam assembly in the loading unit 20, for example.

As can be appreciated from the foregoing, the various surgicalinstruments disclosed herein afford the clinician with improvedmaneuverability and various other advantages that are not available whenusing prior surgical instruments that are configured to cut and fastentissue as well as a way to quickly couple the end effectors to theelongated shaft of the surgical instrument. For example, in variousimplementations disclosed herein, the end effector is selectivelyarticulatable in the same directions in which the jaws are movablerelative to each other. Stated another way, the jaws of the surgical endeffector are constrained to move in one plane. In variousimplementations disclosed herein, the end effector is also capable ofmoving in that same plane. Prior end effectors are commonly constrainedto move in planes that differ from the plane in which the jaws move.

Another advantage provided by many of the present implementations is theuse of a firing bar that comprises at least an upper firing bar and atleast a lower firing bar that form a laminated structure. The upper barmay be attached to an upper end of the cutting head and the lower barmay be attached to the lower head such that they are spaced from eachother at their points of attachment to the cutting head. Sucharrangement serves to provide for a more stable cutting head arrangementthat may be less likely to twist and/or buckle during actuation. Inaddition, the cutting head may be equipped with laterally protrudingupper tab(s) that engage a portion of the anvil and lower tab(s) thatengage the carrier. The upper firing bar may be attached directly behindthe point where the upper tabs are attached such that it is axiallyaligned therewith. Likewise the lower firing bar may be attached to thebottom portion directly behind the points where the bottom tab(s) areattached such that it is axially aligned therewith. Such axial alignmentfacilitates transfer of the driving or actuation motions to the cuttinghead at the points where the cutting head engages the anvil and thecarrier which may further prevent and buckling and/or twisting of thecutting head during actuation.

While the loading units have been described herein in connection with acoupling system for quickly and simultaneously coupling the drive beamassembly and the articulation beam with corresponding actuation portionsof the surgical instrument, those of ordinary skill in the art willappreciate that the various end effectors disclosed herein that haveunique articulation capabilities may also be effectively employed withsurgical instruments lacking a coupler assembly disclosed herein.

In accordance with at least one form, there is provided a surgicalinstrument that may include an elongated shaft assembly that defines alongitudinal tool axis. The elongated shaft assembly may include aproximal firing member that operably interfaces with a firing system forreceiving firing and retraction motions therefrom. The elongated shaftassembly may further include a proximal articulation assembly thatoperably interfaces with an articulation system for receivingarticulation motions therefrom. The surgical instrument may furthercomprise a surgical end effector. In various implementations, thesurgical end effector may comprise first and second end effectorportions wherein the second end effector portion is selectively movablerelative to the first end effector portion in a first direction uponapplication of an opening motion to the second end effector portion. Thesecond end effector portion may be further selectively movable in asecond direction upon application of a closing motion to the second endeffector portion. The end effector may also include an articulationjoint that is configured to selectively articulate the first endeffector portion about an articulation axis in the first and seconddirections relative to the longitudinal tool axis. An articulation linkassembly may operably interface with the articulation joint for applyingthe articulation motions to the articulation joint. A drive assembly maybe supported for operable movement within the surgical end effector uponapplication of the firing and retraction motions thereto. The driveassembly may be configured to apply the opening and closing motions tothe second end effector portion. The surgical instrument may furthercomprise means for simultaneously coupling: (i) a distal end of thefirst end effector portion to the elongated shaft assembly; (ii) thearticulation link to the articulation assembly; and (ii) the driveassembly to the proximal firing member.

In accordance with at least one other general form, there is provided adisposable loading unit for attachment to an elongated shaft assembly ofa surgical instrument. In various implementations, the disposableloading unit may include a housing assembly that has a distal andproximal end wherein the proximal end is operably couplable to theelongated shaft assembly. The disposable loading unit may furtherinclude a carrier that operably supports a surgical staple cartridgetherein. An anvil may be movably supported on the carrier and beselectively movable relative to the carrier in a first direction uponapplication of an opening motion to the anvil. The anvil may be furtherselectively movable in a second direction upon application of a closingmotion to the anvil. An articulation joint may be configured toselectively articulate the carrier about an articulation axis in thefirst and second directions. An articulation link assembly may operablyinterface with the articulation joint for applying the articulationmotions to the articulation joint and be selectively couplable to acorresponding portion of the elongated shaft assembly. A drive assemblymay be supported for operable movement within the surgical end effectorupon application of firing and retraction motions from a correspondingfiring portion of the elongated shaft assembly. The drive assembly maybe configured to apply the opening and closing motions to the anvil.

In accordance with still another general form, there is provided asurgical instrument that may comprise an elongated shaft assembly thatdefines a longitudinal tool axis. The elongated shaft assembly maycomprise a proximal firing member that operably interfaces with a firingsystem for receiving firing and retraction motions therefrom. Theelongated shaft assembly may further comprise a proximal articulationassembly that operably interfaces with an articulation system forreceiving articulation motions therefrom. The surgical instrument mayfurther comprise a surgical end effector. In various implementations,the surgical end effector may comprise first and second end effectorportions wherein the second end effector portion is selectively movablerelative to the first end effector portion in a first direction uponapplication of an opening motion to the second end effector portion. Thesecond end effector portion may be further selectively movable in asecond direction upon application of a closing motion to the second endeffector portion. An articulation joint may be configured to selectivelyarticulate the first end effector portion about an articulation axis inthe first and second directions relative to the longitudinal tool axis.An articulation link assembly may operably interface with thearticulation joint for applying the articulation motions to thearticulation joint. A drive assembly may be supported for operablemovement within the surgical end effector upon application of the firingand retraction motions thereto. The drive assembly may be configured toapply the opening and closing motions thereto. The surgical instrumentmay further comprise a coupler assembly that may include a first couplerportion that is configured to couple a distal end of the first endeffector portion to the elongated shaft assembly. The coupler assemblymay further include a second coupler portion that is configured tocouple the articulation link to the articulation assembly at a same timeas the first coupler portion is coupled to the distal end of the firstend effector portion. A third coupler portion may be configured tocouple the drive assembly to the proximal firing member when the firstcoupler portion has coupled to the distal end of the first end effectorportion to the elongated shaft assembly and when the second couplerportion has coupled the articulation link to the articulation assembly.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

Any patent, publication, or other disclosure material, in whole or inpart, that is the to be incorporated by reference herein is incorporatedherein only to the extent that the incorporated materials does notconflict with existing definitions, statements, or other disclosurematerial set forth in this disclosure. As such, and to the extentnecessary, the disclosure as explicitly set forth herein supersedes anyconflicting material incorporated herein by reference. Any material, orportion thereof, that is the to be incorporated by reference herein, butwhich conflicts with existing definitions, statements, or otherdisclosure material set forth herein will only be incorporated to theextent that no conflict arises between that incorporated material andthe existing disclosure material.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this invention pertains.

1-20. (canceled)
 21. A surgical instrument, comprising: a handle,comprising: a longitudinal axis; a first handle drive system; and asecond handle drive system; and a shaft attachment assembly attachableto and detachable from said handle, wherein said shaft attachmentassembly comprises: an end effector; a shaft extending proximally fromsaid end effector; a first shaft assembly drive system; a second shaftassembly drive system; and a coupling portion configured to be attachedto said handle, wherein said coupling portion comprises a couplingmechanism configured to operably couple said first handle drive systemto said first shaft assembly drive system so that said first handledrive system can be operated to actuate a first surgical function ofsaid end effector and operably couple said second handle drive system tosaid second shaft assembly drive system so that said second handle drivesystem can be operated to actuate a second surgical function of said endeffector, and wherein the operable coupling of said first handle drivesystem to said first shaft assembly drive system and the operablecoupling of said second handle drive system to said second shaftassembly drive system requires only an attachment motion of said shaftattachment assembly by a user in a direction along said longitudinalaxis.
 22. The surgical instrument of claim 21, wherein said couplingmechanism comprises an automatically rotatable locking member configuredto rotate automatically between a neutral position and an automaticallyrotated position during the attachment of said shaft attachment assemblyto said handle.
 23. The surgical instrument of claim 22, wherein saidshaft attachment assembly comprises a key configured to cause saidautomatically rotatable locking member to rotate during the attachmentof said shaft attachment assembly to said handle.
 24. The surgicalinstrument of claim 23, wherein said first handle drive system comprisesa firing member, and wherein said key is further configured to rotatesaid firing member out of alignment with said first shaft assembly drivesystem to prevent said first shaft assembly drive system from beingactuated prior to the attachment of said shaft attachment assembly andsaid handle.
 25. The surgical instrument of claim 24, wherein said shaftattachment assembly further comprises an articulation joint, and whereinsaid second handle drive system comprises an articulation memberconfigured to articulate said end effector relative to said shaft ofsaid shaft attachment assembly about said articulation joint.
 26. Thesurgical instrument of claim 22, wherein said automatically rotatablelocking member is spring-loaded.
 27. The surgical instrument of claim21, further comprising an alignment feature configured to prevent saidshaft attachment assembly from rotating about said longitudinal axisrelative to said handle.
 28. A surgical attachment assembly configuredto be attached to and detached from one of a surgical instrument handleand a surgical robot that includes a shaft attachment portion defining alongitudinal axis, a first drive system, and a second drive system,wherein said surgical attachment assembly comprises: an end effector; ashaft extending proximally from said end effector; a first shaftassembly drive system; a second shaft assembly drive system; and acoupling portion configured to be attached to the one of the surgicalinstrument handle and the surgical robot, wherein said coupling portioncomprises a coupling mechanism configured to operably couple said firstdrive system to said first shaft assembly drive system so that saidfirst drive system can be operated to actuate a first surgical functionof said end effector and operably couple said second drive system tosaid second shaft assembly drive system so that said second drive systemcan be operated to actuate a second surgical function of said endeffector, and wherein the operable coupling of said first drive systemto said first shaft assembly drive system and the operable coupling ofsaid second drive system to said second shaft assembly drive systemrequires only an attachment motion of said surgical attachment assemblyby a user in a direction along the longitudinal axis of the shaftattachment portion.
 29. The surgical attachment assembly of claim 28,wherein said coupling mechanism comprises an automatically rotatablelocking member configured to rotate automatically between a neutralposition and an automatically rotated position during the attachment ofsaid surgical attachment assembly to the one of the surgical instrumenthandle and the surgical robot.
 30. The surgical attachment assembly ofclaim 29, further comprising a key configured to cause saidautomatically rotatable locking member to rotate during the attachmentof said surgical attachment assembly to the one of the surgicalinstrument handle and the surgical robot.
 31. The surgical attachmentassembly of claim 30, wherein the first drive system comprises a firingmember, and wherein said key is further configured to rotate the firingmember out of alignment with said first shaft assembly drive system toprevent said first shaft assembly drive system from being actuated priorto the attachment of said surgical attachment assembly to the one of thesurgical instrument handle and the surgical robot.
 32. The surgicalattachment assembly of claim 31, wherein said shaft comprises anarticulation joint, and wherein said second drive system comprises anarticulation member configured to articulate said end effector relativeto said shaft about said articulation joint.
 33. The surgical attachmentassembly of claim 29, wherein said automatically rotatable lockingmember is spring-loaded.
 34. The surgical attachment assembly of claim28, further comprising an alignment feature configured to prevent saidsurgical attachment assembly from rotating about the longitudinal axisrelative to the one of the surgical instrument handle and the surgicalrobot.
 35. A surgical instrument, comprising: a handle assembly,comprising: a longitudinal axis defined by a shaft assembly; a firsthandle drive system; and a second handle drive system; and a shaftattachment assembly attachable to and detachable from said handleassembly, wherein said handle comprises: an end effector; anarticulation joint; a shaft extending proximally from said articulationjoint; a firing drive system; an articulation drive system; and acoupling portion configured to be attached to said handle assembly,wherein said coupling portion comprises a coupling mechanism configuredto operably couple said first handle drive system to said firing drivesystem to fire said end effector and operably couple said second handledrive system to said articulation drive system to articulate said endeffector, and wherein the operable coupling of said first handle drivesystem to said firing drive system and the operable coupling of saidsecond handle drive system to said articulation drive system requiresonly an attachment motion of said shaft attachment assembly by a user ina direction along said longitudinal axis.
 36. The surgical instrument ofclaim 35, wherein said coupling mechanism comprises an automaticallyrotatable locking member configured to rotate automatically between aneutral position and an automatically rotated position during theattachment of said shaft attachment assembly to said handle assembly.37. The surgical instrument of claim 36, wherein said shaft attachmentassembly comprises a key configured to cause said automaticallyrotatable locking member to rotate during the attachment of said shaftattachment assembly to said handle assembly.
 38. The surgical instrumentof claim 37, wherein said first handle drive system comprises a firingmember, and wherein said key is further configured to rotate said firingmember out of alignment with said firing drive system to prevent saidfiring drive system from being actuated prior to the attachment of saidshaft attachment assembly and said handle assembly.
 39. The surgicalinstrument of claim 36, wherein said automatically rotatable lockingmember is spring-loaded.
 40. The surgical instrument of claim 35,further comprising an alignment feature configured to prevent said shaftattachment assembly from rotating about said longitudinal axis relativeto said handle assembly.